IAI America XSEL-KE - Manual (Page 97)

82
Part 4 Commands
Operation type in the output field
CC: Command was executed successfully, ZR: Operation result is zero,
PE: Operation is complete, CP: Command part has passed, TU: Time up
EQ: Operand 1 = Operand 2, NE: Operand 1
z Operand 2,
GT: Operand 1 > Operand 2, GE: Operand 1 t Operand 2,
LT: Operand 1 < Operand 2, LE: Operand 1 d Operand 2
Command Page Condition Operand 1 Operand 2 Output Function
E
EDDO 182
Prohibited Prohibited Prohibited CP Declare end of DO
EDIF 180 Prohibited Prohibited Prohibited CP Declare end of IF
EDPA 208 Prohibited Prohibited Prohibited CP Declare end of palletizing setting
EDSL 186 Prohibited Prohibited Prohibited CP Declare end of SLCT
EDSR 114 Prohibited Prohibited Prohibited CP End subroutine
ELSE 180 Prohibited Prohibited Prohibited CP
Declare execution destination when
IF command condition is not satisfied
EOR 96 Optional
Exclusive-OR operand
variable
Operand ZR
Logical exclusive-OR
EXIT 115 Optional Prohibited Prohibited CP End program
EXPG 116 Optional
Execution program number (Execution program
number)
CC
Start program
EXSR 113 Optional
Execution subroutine
number
Prohibited CP
Execute subroutine
F
FMIO 109 Optional
Format type
Prohibited CP Set IN (B)/OUT (B) command format
G
GACC 133
Optional Variable number Position number CP Get acceleration data
GDCL 134 Optional Variable number Position number CP Get deceleration data
GOTO 112 Optional
Jump destination tag
number
Prohibited CP
Jump
GRP 143 Optional Valid axis pattern Prohibited CP Set group axis
GTTM 100 Optional Time assignment variable Prohibited CP Get time
GVEL 132 Optional Variable number Position number CP Get speed data
H
HOLD 144
Optional (Input port to pause) (HOLD type) CP Declare port to pause
HOME 156 Optional Home-return axis pattern Prohibited PE Return to home
I
IFXX 178
Optional Comparison variable Comparison value CP Compare [EQ, NE, GT, GE, LT, LE]
INB 106 Optional Head I/O, flag Conversion digits CC Input BCD (8 digits max.)
IN 105 Optional Head I/O, flag End I/O, flag CC Input binary (32 bits max.)
ISXX 179 Optional Column number
Column number, character
literal
CP
Compare strings
ITER 182 Optional Prohibited Prohibited CP Repeat DO
JXWX 162 Optional Axis operation pattern Start I/O, flag PE Jog [FN, FF, BN, BF]
L
LEAV 181
Optional Prohibited Prohibited CP Pull out from DO
LET 86 Optional Assignment variable Assigned value ZR Assign
M
MOD 90 Optional
Remainder assignment
variable
Divisor ZR
Calculate remainder
MOVL 158 Optional
Destination position number
Prohibited PE
Move to specified position via
interpolation
MOVP 157 Optional Destination position number Prohibited PE Move to specified position
MULT 89 Optional Multiplicand Multiplier ZR Multiply
MVLI 160 Optional
Travel position number
Prohibited PE
Move to relative position via
interpolation
MVPI 159 Optional Travel position number Prohibited PE Move to relative position